A message that contains train on-track information and reservation information of a train detection section and direction information and reservation information of a switch is circulated among a train detector, switch machine, signal device controller and a route indicating device. The train detector updates train on-track information of a train detection section contained in the signaling message, the switch machine updates switch direction information in the signaling message, and the route indicating device updates reservation information of the train detection section and the switch contained in the signaling message. Via the signaling message, the train detector can transmit the train detection result to the signal device controller and the route indicating device, the switch machine can transmit switch condition to the signal device controller, the route indicating device transmits route reservation to the switch machine and the signal device controller, and based on the transmitted train detection result, switch condition and route reservation condition, the signal device controller transmits travel permission or travel non-permission for the assigned route to a train.